Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned p...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Al-Khwarizmi College of Engineering – University of Baghdad
2019-05-01
|
| Series: | Al-Khawarizmi Engineering Journal |
| Online Access: | http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/466 |